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NASA NTRS2003

Formation Flying Design and Applications in Weak Stability Boundary Regions

Weak Stability regions serve as superior locations for interferometric scientific investigations. These regions are often selected to minimize environmental disturbances and maximize observing efficiency. Design of formations in these regions are becoming ever more challenging as more complex missions are envisioned. The development of algorithms to enable the capability for formation design must be further enabled to incorporate better understanding of WSB solution space. This development will improve the efficiency and expand the capabilities of current approaches. The Goddard Space Flight Center (GSFC) is currently supporting multiple formation missions in WSB regions. This end-to-end support consists of mission operations, trajectory design, and control. It also includes both algorithm and software development. The Constellation-X, Maxim, and Stellar Imager missions are examples of the use of improved numerical methods for attaining constrained formation geometries and controlling their dynamical evolution. This paper presents a survey of formation missions in the WSB regions and a brief description of the formation design using numerical and dynamical techniques.

Folta, David↗
NASA NTRS2002

Results Of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA's first autonomous formation flying mission completed its primary goal of demonstrating an advanced technology called Enhanced Formation Flying. To enable this technology, a team at the Goddard Space Flight Center implemented a universal 3-axis formation flying algorithm in an autonomous executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm, the onboard flight design and the validation results of this unique system. Results from fully autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(trademark), its ground-based predecessor used in operations, and the original standalone algorithm. Maneuvers discussed encompass reactionary, routine formation maintenance, and inclination control. Orbital data is also examined to verify that all formation flying requirements were met.

Folta, David↗
NASA NTRS2003

A Fuzzy Technique for Performing Lateral-Axis Formation Flight Navigation Using Wingtip Vortices

Close formation flight involving aerodynamic coupling through wingtip vortices shows significant promise to improve the efficiency of cooperative aircraft operations. Impediments to the application of this technology include internship communication required to establish precise relative positioning. This report proposes a method for estimating the lateral relative position between two aircraft in close formation flight through real-time estimates of the aerodynamic effects imparted by the leading airplane on the trailing airplane. A fuzzy algorithm is developed to map combinations of vortex-induced drag and roll effects to relative lateral spacing. The algorithm is refined using self-tuning techniques to provide lateral relative position estimates accurate to 14 in., well within the requirement to maintain significant levels of drag reduction. The fuzzy navigation algorithm is integrated with a leader-follower formation flight autopilot in a two-ship F/A-18 simulation with no intership communication modeled. It is shown that in the absence of measurements from the leading airplane the algorithm provides sufficient estimation of lateral formation spacing for the autopilot to maintain stable formation flight within the vortex. Formation autopilot trim commands are used to estimate vortex effects for the algorithm. The fuzzy algorithm is shown to operate satisfactorily with anticipated levels of input uncertainties.

Hanson, Curtis E.↗
NASA NTRS2004

Formation and Stability of Radiation Products in Europa's Icy Shell

Spectra of Europa reveal a surface dominated by water-ice along with hydrated materials and minor amounts of SO2, CO2, and H2O2. Jovian magnetospheric ions (protons, sulfur, and oxygen) and electrons produce significant chemical modifications of the surface on time scales of a few years at micrometer depths. Our laboratory studies examine the formation and stability of radiation products in H2O-rich ices relevant to Europa. Infrared (IR) spectra of ices before and after irradiation reveal the radiation destruction of molecules and the formation of products at 86 - 132 K. In addition, spectra of ices during warming track thermal evolution due to chemical changes and sublimation processes. IR-identified radiation products in 86 - 132 K irradiated H2O + SO2 ices are the bisulfate ion, HSO4(-), sulfate ion, SO4(2-) and the hydronium ion, H3O(+). Warming results in the formation of a residual spectrum similar to liquid sulfuric acid, H2SO4, for H2O:SO2 ratios of 30:1, whereas hydrated sulfuric acid, H2SO4 4 H2O, forms for ratios of 30:1. Radiation products identified for irradiated H2O + H2S ices at 86 K are H2S2 and SO2. When irradiated at 110 and 132 K, ices with H2O:H2S ratios if either 3:1 or 30:1 show the formation of H2SO4 4 H2O on warming to 175 K. We have also examined the radiation stability of H2SO4. Addition of CO2 to H2O + SO2 ices results in the formation of CO3 at 2046 cm (sup -1) (4.89 m). This is the strongest band from a carbon-containing product in the mid-IR spectral region, and it is also seen when either pure CO2 or H2O + CO2 ice is irradiated. Experiments with CH4 added to H2O + SO2 + CO2 ices addressed the question of methane's use as a marker of methanogens in an irradiated ice environment. New results on the near-IR spectrum of pure H2O2 will be included in this presentation. Interpretations of near-IR water bands, with H2O2 present, will be discussed. Irradiations of H2O2 and H2O + H2O2 mixtures, to examine the possibility of O2 and O3 formation, are currently under investigation and new results will be discussed.

Moore, M. H.↗
NASA NTRS2004

Formation Control for the Maxim Mission.

Over the next twenty years, a wave of change is occurring in the spacebased scientific remote sensing community. While the fundamental limits in the spatial and angular resolution achievable in spacecraft have been reached, based on today's technology, an expansive new technology base has appeared over the past decade in the area of Distributed Space Systems (DSS). A key subset of the DSS technology area is that which covers precision formation flying of space vehicles. Through precision formation flying, the baselines, previously defined by the largest monolithic structure which could fit in the largest launch vehicle fairing, are now virtually unlimited. Several missions including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), and the Stellar Imager will drive the formation flying challenges to achieve unprecedented baselines for high resolution, extended-scene, interferometry in the ultraviolet and X-ray regimes. This paper focuses on establishing the feasibility for the formation control of the MAXIM mission. The Stellar Imager mission requirements are on the same order of those for MAXIM. This paper specifically addresses: (1) high-level science requirements for these missions and how they evolve into engineering requirements; (2) the formation control architecture devised for such missions; (3) the design of the formation control laws to maintain very high precision relative positions; and (4) the levels of fuel usage required in the duration of these missions. Specific preliminary results are presented for two spacecraft within the MAXIM mission.

Luquette, Richard J.↗
NASA NTRS1996

Dynamics of vegetative cytoplasm during generative cell formation and pollen maturation in Arabidopsis thaliana

Ultrastructural changes of pollen cytoplasm during generative cell formation and pollen maturation in Arabidopsis thaliana were studied. The pollen cytoplasm develops a complicated ultrastructure and changes dramatically during these stages. Lipid droplets increase after generative cell formation and their organization and distribution change with the developmental stage. Starch grains in amyloplasts increase in number and size during generative and sperm cell formation and decrease at pollen maturity. The shape and membrane system of mitochondria change only slightly. Dictyosomes become very prominent, and numerous associated vesicles are observed during and after sperm cell formation. Endoplasmic reticulum appears extensively as stacks during sperm cell formation. Free and polyribosomes are abundant in the cytoplasm at all developmental stages although they appear denser at certain stages and in some areas. In mature pollen, all organelles are randomly distributed throughout the vegetative cytoplasm and numerous small particles appear. Organization and distribution of storage substances and appearance of these small particles during generative and sperm cell formation and pollen maturation are discussed.

Non-NASA Center↗
NASA NTRS2000

Kinetics of DSB rejoining and formation of simple chromosome exchange aberrations

PURPOSE: To investigate the role of kinetics in the processing of DNA double strand breaks (DSB), and the formation of simple chromosome exchange aberrations following X-ray exposures to mammalian cells based on an enzymatic approach. METHODS: Using computer simulations based on a biochemical approach, rate-equations that describe the processing of DSB through the formation of a DNA-enzyme complex were formulated. A second model that allows for competition between two processing pathways was also formulated. The formation of simple exchange aberrations was modelled as misrepair during the recombination of single DSB with undamaged DNA. Non-linear coupled differential equations corresponding to biochemical pathways were solved numerically by fitting to experimental data. RESULTS: When mediated by a DSB repair enzyme complex, the processing of single DSB showed a complex behaviour that gives the appearance of fast and slow components of rejoining. This is due to the time-delay caused by the action time of enzymes in biomolecular reactions. It is shown that the kinetic- and dose-responses of simple chromosome exchange aberrations are well described by a recombination model of DSB interacting with undamaged DNA when aberration formation increases with linear dose-dependence. Competition between two or more recombination processes is shown to lead to the formation of simple exchange aberrations with a dose-dependence similar to that of a linear quadratic model. CONCLUSIONS: Using a minimal number of assumptions, the kinetics and dose response observed experimentally for DSB rejoining and the formation of simple chromosome exchange aberrations are shown to be consistent with kinetic models based on enzymatic reaction approaches. A non-linear dose response for simple exchange aberrations is possible in a model of recombination of DNA containing a DSB with undamaged DNA when two or more pathways compete for DSB repair.

DNA Damage↗
NASA NTRS2000

Aircraft Spacings that Produce a Vortex-Free Region Below Flight Formation

Theoretical estimates are presented for the motion of vortex wakes shed by multiple aircraft flying in close formation. The purpose of the theoretical study was to determine whether the spacings between adjacent aircraft in close formations could be designed so that the lift-generated vortices being trailed would move upward rather than downward. In this way, a region below the formation is produced that is free of vortices. It was found that aircraft can be arranged in formations so that the inboard wake vortices all move upward rather than downward. The two outboard vortices travel downward at a greatly reduced velocity that depends on the number of aircraft in the formation. If the desired motions are to be produced, the lateral spacings between adjacent aircraft centerlines must be between 1.1 and 1.5 wingspans, and the vertical spacings between -0.025 and -0.15 wingspans. Since the range of acceptable spacings is small, it is recommended that the position accuracy between aircraft in the formation be kept within about + or - 0.01 wingspan of the center of acceptable spacings so that aircraft meandering do not cause unwanted vortex excursions. It was also found that, if the in-trail spacings between adjacent aircraft are more than 4 wingspans, the foregoing vertical spacings must be adjusted to allow for the additional downward travel of the vortices shed by leading aircraft.

Rossow, Vernon J.↗
NASA NTRS2005

The Effects of Thrust Uncertainty and Attitude Knowledge Errors on the MMS Formation Maintenance Maneuver

The Magnetospheric Multiscale (MMS) Mission will use a formation of four spinning spacecraft to study the Earth s magnetosphere. The science objectives of MMS require a near-regular tetrahedron formation to be maintained with side lengths ranging from ten kilometers to several thousand kilometers at orbit apogee. To reduce spacecraft complexity and cost, the current mission concept assumes MMS can achieve its formation goals through open-loop orbit control from the ground, rather than in-flight, closed-loop formation control that has been the subject of recent study. Significant analysis has been performed to provide optimal reference orbit and relative orbit designs. However, the feasibility of achieving these orbits, and maintaining them for an extended period of time in the presence of real world errors and perturbations has not been investigated. In particular, attitude knowledge and control errors, which may have a negligible effect on orbit control for conventional missions with spinning spacecraft, can contribute significant errors to the MMS orbits. In this work, a 6 degree-of-freedom (DOF) simulation is developed and used to analyze the effects of realistic errors on formation maintenance maneuver accuracy. Several realistic considerations including a finite-burn model, attitude perturbations, and thrust uncertainty are studied. The primary objective is to quantify the effects of realistic attitude and orbit control, knowledge, and actuator errors on the formation geometry by observing representative maneuver errors of a single spacecraft.

Tsai, Dean C.↗
NASA NTRS2006

On Iron Enrichment, Star Formation, and Type Ia Supernovae in Galaxy Clusters

The nature of star formation and Type Ia supernovae (SNIa) in galaxies in the field and in rich galaxy clusters are contrasted by juxtaposing the buildup of heavy metals in the universe inferred from observed star formation and supernovae rate histories with data on the evolution of Fe abundances in the intracluster medium (ICM). Models for the chemical evolution of Fe in these environments are constructed, subject to observational constraints, for this purpose. While models with a mean delay for SNIa of 3 Gyr and standard initial mass function (IMF) are fully consistent with observations in the field, cluster Fe enrichment immediately tracked a rapid, top-heavy phase of star formation - although transport of Fe into the ICM may have been more prolonged and star formation likely continued beyond redshift 1. The means of this prompt enrichment consisted of SNII yielding greater than or equal to 0.1 solar mass per explosion (if the SNIa rate normalization is scaled down from its value in the field according to the relative number of candidate progenitor stars in the 3 - 8 solar mass range) and/or SNIa with short delay times originating during the rapid star formation epoch. Star formation is greater than 3 times more efficient in rich clusters than in the field, mitigating the overcooling problem in numerical cluster simulations. Both the fraction of baryons cycled through stars, and the fraction of the total present-day stellar mass in the form of stellar remnants, are substantially greater in clusters than in the field.

Loewenstein, Michael↗
NASA NTRS2007

Multi-Objective Online Initialization of Spacecraft Formations

This paper extends a previously developed method for finding spacecraft initial conditions (ICs) that minimize the drift resulting from J2 disturbances while also minimizing the fuel required to attain those ICs. It generalizes the single spacecraft optimization to a formation-wide optimization valid for an arbitrary number of vehicles. Additionally, the desired locations of the spacecraft, separate from the starting location, can be specified, either with respect to a reference orbit, or relative to the other spacecraft in the formation. The three objectives (minimize drift, minimize fuel, and maintain a geometric template) are expressed as competing costs in a linear optimization, and are traded against one another through the use of scalar weights. By carefully selecting these weights and re-initializing the formation at regular intervals, a closed-loop, formation-wide control system is created. This control system can be used to reconfigure the formations on the fly, and creates fuel-efficient plans by placing the spacecraft in semi-invariant orbits. The overall approach is demonstrated through nonlinear simulations for two formations a GEO orbit, and an elliptical orbit.

Jeffrey, Matthew↗
NASA NTRS2005

Hematite Spherules in Basaltic Tephra Altered Under Aqueous, Acid-Sulfate Conditions on Mauna Kea Volcano, Hawaii: Possible Clues for the Occurrence of Hematite-Rich Spherules in the Burns Formation at Meridiani Planum, Mars

Iron-rich spherules (>90% Fe2O3 from electron microprobe analyses) approx.10-100 microns in diameter are found within sulfate-rich rocks formed by aqueous, acid-sulfate alteration of basaltic tephra on Mauna Kea volcano, Hawaii. Although some spherules are nearly pure Fe, most have two concentric compositional zones, with the core having a higher Fe/Al ratio than the rim. Oxide totals less than 100% (93-99%) suggest structural H2O and/or /OH. The transmission Moessbauer spectrum of a spherule-rich separate is dominated by a hematite (alpha-Fe2O3) sextet whose peaks are skewed toward zero velocity. Skewing is consistent with Al(3+) for Fe(3+) substitution and structural H2O and/or /OH. The grey color of the spherules implies specular hematite. Whole-rock powder X-ray diffraction spectra are dominated by peaks from smectite and the hydroxy sulfate mineral natroalunite as alteration products and plagioclase feldspar that was present in the precursor basaltic tephra. Whether spherule formation proceeded directly from basaltic material in one event (dissolution of basaltic material and precipitation of hematite spherules) or whether spherule formation required more than one event (formation of Fe-bearing sulfate rock and subsequent hydrolysis to hematite) is not currently constrained. By analogy, a formation pathway for the hematite spherules in sulfate-rich outcrops at Meridiani Planum on Mars (the Burns formation) is aqueous alteration of basaltic precursor material under acid-sulfate conditions. Although hydrothermal conditions are present on Mauna Kea, such conditions may not be required for spherule formation on Mars if the time interval for hydrolysis at lower temperatures is sufficiently long.

Morris, R. V.↗
NASA NTRS2001

A Preliminary Formation Flying Orbit Dynamics Analysis for Leonardo-BRDF

Leonardo-BRDF is a new NASA mission concept proposed to allow the investigation of radiative transfer and its effect on the Earth's climate and atmospheric phenomenon. Enabled by the recent developments in small-satellite and formation flying technology, the mission is envisioned to be composed of an array of spacecraft in carefully designed orbits. The different perspectives provided by a distributed array of spacecraft offer a unique advantage to study the Earth's albedo. This paper presents the flight dynamics analysis performed in the context of the Leonardo-BRDF science requirements. First, the albedo integral is investigated and the effect of viewing geometry on science return is studied. The method used in this paper, based on Gauss quadrature, provides the optimal formation geometry to ensure that the value of the integral is accurately approximated. An orbit design approach is presented to achieve specific relative orbit geometries while simultaneously satisfying orbit dynamics constraints to reduce formation-keeping fuel expenditure. The relative geometry afforded by the design is discussed in terms of mission requirements. An optimal Lambert initialization scheme is presented with the required DeltaV to distribute all spacecraft from a common parking orbit into their appropriate orbits in the formation. Finally, formation-keeping strategies are developed and the associated DeltaV's are calculated to maintain the formation in the presence of perturbations.

Hughes, Steven P.↗
NASA NTRS2010

Modeling Initial Stage of Ablation Material Pyrolysis: Graphitic Precursor Formation and Interfacial Effects

Reactive molecular dynamics simulations are used to study initial stage of pyrolysis of ablation materials and their composites with carbon nanotubes and carbon fibers. The products formed during pyrolysis are characterized and water is found as the primary product in all cases. The water formation mechanisms are analyzed and the value of the activation energy for water formation is estimated. A detailed study on graphitic precursor formation reveals the presence of two temperature zones. In the lower temperature zone (less than 2000 K) polymerization occurs resulting in formation of large, stable graphitic precursors, and in the high temperature zone (greater than 2000 K) polymer scission results in formation of short polymer chains/molecules. Simulations performed in the high temperature zone on the phenolic resin composites (with carbon nanotubes and carbon fibers) shows that the presence of interfaces had no substantial effect on the chain scission rate or the activation energy value for water formation.

Desai, Tapan G.↗
NASA NTRS2004

Autonomous Formation Flight

NASA's Strategic Plan for the Aerospace Technology Enterprise includes ambitious objectives focused on affordable air travel, reduced emissions, and expanded aviation-system capacity. NASA Dryden Flight Research Center, in cooperation with NASA Ames Research Center, the Boeing Company, and the University of California, Los Angeles, has embarked on an autonomous-formation-flight project that promises to make significant strides towards these goals. For millions of years, birds have taken advantage of the aerodynamic benefit of flying in formation. The traditional "V" formation flown by many species of birds (including gulls, pelicans, and geese) enables each of the trailing birds to fly in the upwash flow field that exists just outboard of the bird immediately ahead in the formation. The result for each trailing bird is a decrease in induced drag and thus a reduction in the energy needed to maintain a given speed. Hence, for migratory birds, formation flight extends the range of the system of birds over the range of birds flying solo. The Autonomous Formation Flight (AFF) Project is seeking to extend this symbiotic relationship to aircraft.

Schkolnik, Gerard S.↗
NASA NTRS2004

Ka-Band Autonomous Formation Flying Sensor

Ka-band integrated range and bearing-angle formation sensor called the Autonomous Formation Flying (AFF) Sensor has been developed to enable deep-space formation flying of multiple spacecraft. The AFF Sensor concept is similar to that of the Global Positioning System (GPS), but the AFF Sensor would not use the GPS. The AFF Sensor would reside in radio transceivers and signal-processing subsystems aboard the formation-flying spacecraft. A version of the AFF Sensor has been developed for initial application to the two-spacecraft StarLight optical-interferometry mission, and several design investigations have been performed. From the prototype development, it has been concluded that the AFF Sensor can be expected to measure distances and directions with standard deviations of 2 cm and 1 arc minute, respectively, for spacecraft separations ranging up to about 1 km. It has also been concluded that it is necessary to optimize performance of the overall mission through design trade-offs among the performance of the AFF Sensor, the field of view of the AFF Sensor, the designs of the spacecraft and the scientific instruments that they will carry, the spacecraft maneuvers required for formation flying, and the design of a formation-control system.

Tien, Jeffrey↗
NASA NTRS2012

Compound-Specific Carbon, Nitrogen, and Hydrogen Isotopic Ratios for Amino Acids in CM and CR Chondrites and their use in Evaluating Potential Formation Pathways

Stable hydrogen, carbon, and nitrogen isotopic ratios (oD, 013C, and olSN) of organic compounds can revcal information about their origin and formation pathways. Several formation mechanisms and environments have been postulated for the amino acids detected in carbonaceous chondrites. As each proposed mechanism utilizes different precursor molecules, the isotopic signatures of the resulting amino acids may indicate the most likely of these pathways. We have applied gas chromatography with mass spectrometry and combustion isotope ratio mass spectrometry to measure the compound-specific C, N, and H stable isotopic ratios of amino acids from seven CM and CR carbonaceous chondrites: CM1I2 Allan Hills (ALH) 83100, CM2 Murchison, CM2 Lewis Cliff (LEW) 90500, CM2 Lonewolf Nunataks (LON) 94101, CRZ Graves Nunataks (GRA) 95229, CRZ Elephant Moraine (EET) 92042, and CR3 Queen Alexandra Range (QUE) 99177. We compare the isotopic compositions of amino acids in these meteorites with predictions of expected isotopic enrichments from potential formation pathways. We observe trends of decreasing ODC and increasing oD with increasing carbon number in the aH, (l-NH2 amino acids that correspond to predictions made for formation via Streckercyanohydrin synthesis. We also observe light ODC signatures for ~-alanine, which may indicate either formation via Michael addition or via a pathway that forms primarily small, straight-chain, amine-terminal amino acids (n-ro-amino acids). Higher deuterium enrichments are observed in amethyl amino acids, indicating formation of these amino acids or their precursors in cold interstellar or nebular environments. Finally, individual amino acids are more enriched in deuterium in CR chondrites than CM chondrites, reflecting different parent-body chemistry.

Elsila, Jamie E.↗
NASA NTRS2013

Autonomous Formations of Multi-Agent Systems

Autonomous formation control of multi-agent dynamic systems has a number of applications that include ground-based and aerial robots and satellite formations. For air vehicles, formation flight ("flocking") has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multi-agent formations: optimal role assignment to minimize the total cost (e.g., combined distance traveled by all agents); and maintaining formation geometry during flock motion. The Kuhn-Munkres ("Hungarian") algorithm is used for optimal assignment, and consensus-based leader-follower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations.

Dhali, Sanjana↗